[tuxdroid-svn] r1128 - firmware/tuxcore/trunk

[jaguarondi <c2m...@c2...>]

Author: jaguarondi
Date: 2008-05-07 12:45:54 +0200 (Wed, 07 May 2008)
New Revision: 1128

Modified:
   firmware/tuxcore/trunk/communication.c
   firmware/tuxcore/trunk/communication.h
   firmware/tuxcore/trunk/main.c
Log:
* Moved the pong function so that they are sent as fast as possible, not one
  every 100ms anymore. This should point more communication problems in this
  worst case.



Modified: firmware/tuxcore/trunk/communication.c
===================================================================
--- firmware/tuxcore/trunk/communication.c	2008-05-07 10:44:53 UTC (rev 1127)
+++ firmware/tuxcore/trunk/communication.c	2008-05-07 10:45:54 UTC (rev 1128)
@@ -171,6 +171,11 @@
              (i2c_get_status() == I2C_BUSY));
 }
 
+bool cmds_empty(void)
+{
+    return !FifoLength(statusFifo);
+}
+
 /**
  * I2C communication initialization
  *

Modified: firmware/tuxcore/trunk/communication.h
===================================================================
--- firmware/tuxcore/trunk/communication.h	2008-05-07 10:44:53 UTC (rev 1127)
+++ firmware/tuxcore/trunk/communication.h	2008-05-07 10:45:54 UTC (rev 1128)
@@ -47,6 +47,7 @@
                      uint8_t param3);
 int8_t send_cmd(uint8_t *status);
 bool cmds_sent(void);
+bool cmds_empty(void);
 uint8_t fetchCommands(void);
 
 #endif /* COMMUNICATION_H */

Modified: firmware/tuxcore/trunk/main.c
===================================================================
--- firmware/tuxcore/trunk/main.c	2008-05-07 10:44:53 UTC (rev 1127)
+++ firmware/tuxcore/trunk/main.c	2008-05-07 10:45:54 UTC (rev 1128)
@@ -199,6 +199,12 @@
             updateStatus();
         }
 
+        /* send pending pongs */
+        if (pingCnt && cmds_empty())
+        {
+            pingCnt--;
+            send_cmd_p(PONG_CMD, pingCnt, 0, 0);
+        }
         /* Parse and execute received commands. */
         parse_received_cmd();
 
@@ -282,11 +288,6 @@
     }
     if (gerror)
         send_cmd_p(GERROR_CMD, TUXCORE_CPU_NUM, gerror, 0);
-    if (pingCnt)                /* send pending pongs */
-    {
-        pingCnt--;
-        send_cmd_p(PONG_CMD, pingCnt, 0, 0);
-    }
     sensorsUpdate |= STATUS_SENT;
 }